Two-stage robotic bin picking of small metallic objects

Herbert M, Bach P, Lieret M, Fürst J, Franke J (2023)

Publication Language: English

Publication Type: Book chapter / Article in edited volumes

Publication year: 2023

Publisher: Springer

Edited Volumes: Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2022

City/Town: Cham

Pages Range: 167-176

ISBN: 978-3-031-10070-3

DOI: 10.1007/978-3-031-10071-0_14

Abstract

Robotic grasping of small metallic objects such as bolts is a challenging task due to the small dimensions and textureless reflective surfaces. Depth images acquired of such objects are often noisy and error-prone. In addition, overlapping of parts occur as they are provided randomly oriented in a box such as a small load carrier. To overcome the limitations of existing solutions for bolt separation, a flexible and costeffective system is developed using an industrial robot and a magnetic gripper. In a two-stage procedure, the bolts are first grasped blindly from a box and placed on a flat surface. In the second step, object detection and pose estimation is performed and the individual bolts are grasped and inserted into a fixture, so that finally the bolts are in a defined position. Industrial use cases for this system are the automated preparation of bolts for robotic screwing processes or automated commissioning of small objects for assembly tasks. The methodology, implementation and evaluation of the proposed solution is presented in this paper.

Authors with CRIS profile

Meike Lieret Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik (FAPS) Markus Lieret Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik (FAPS) Jörg Franke Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik (FAPS)

Involved external institutions

Siemens Healthineers DE Germany (DE)

How to cite

APA:

Herbert, M., Bach, P., Lieret, M., Fürst, J., & Franke, J. (2023). Two-stage robotic bin picking of small metallic objects. In Thorsten Schüppstuhl, Kirsten Tracht, Jürgen Fleischer (Eds.), Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2022. (pp. 167-176). Cham: Springer.

MLA:

Herbert, Meike, et al. "Two-stage robotic bin picking of small metallic objects." Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2022. Ed. Thorsten Schüppstuhl, Kirsten Tracht, Jürgen Fleischer, Cham: Springer, 2023. 167-176.

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